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Performance of a partitioned visual feedback controller

Oh, Paul Y.; Allen, Peter K.

We present a novel approach we call partitioning where the robot's degrees-of-freedom (DOF) are categorized into two classes based on joint kinematics and dynamics to design a coupled multi-input control system. We use image data to visually servo the first class of joints that have quick response time. Position-based data is used to kinematically servo the second class of joints that have large kinematic range. The net effect is an active-vision system that synergistically tracks a diverse range of targets (without using CAD-based models) over a wide bandwidth of motion dynamics.

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Title
Proceedings: 1999 IEEE International Conference on Robotics and Automation, May 10-15, 1999, Marriott Hotel, Renaissance Center, Detroit, Michigan
Publisher
IEEE
DOI
https://doi.org/10.1109/ROBOT.1999.769987

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Academic Units
Computer Science
Published Here
November 7, 2012